2 papers
cs.RO2025
Learning from 10 Demos: Generalisable and Sample-Efficient Policy Learning with Oriented Affordance Frames
Krishan Rana, Jad Abou-Chakra, Sourav Garg +3
Imitation learning has unlocked the potential for robots to exhibit highly dexterous behaviours. However, it still struggles with long-horizon, multi-object tasks due to poor sampl…
cs.RO2025
Real-is-Sim: Bridging the Sim-to-Real Gap with a Dynamic Digital Twin
Jad Abou-Chakra, Lingfeng Sun, Krishan Rana +5
We introduce real-is-sim, a new approach to integrating simulation into behavior cloning pipelines. In contrast to real-only methods, which lack the ability to safely test policies…